US20080174301A1 - Dual axis magnetic field detector - Google Patents
Dual axis magnetic field detector Download PDFInfo
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- US20080174301A1 US20080174301A1 US11/788,340 US78834007A US2008174301A1 US 20080174301 A1 US20080174301 A1 US 20080174301A1 US 78834007 A US78834007 A US 78834007A US 2008174301 A1 US2008174301 A1 US 2008174301A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/09—Magnetoresistive devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/80—Manufacturing details of magnetic targets for magnetic encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/90—Two-dimensional encoders, i.e. having one or two codes extending in two directions
Definitions
- the field of the invention is that of sensors for detecting the position of an object in two axes, such as a linear axis and a rotary axis.
- LVDT linear variable differential transformer
- a rotary encoder can quickly and accurately detect the rotational position of a rotating device, such as a motor shaft.
- a plurality of hall-effect sensors may be used with a magnet to determine the rotary position of a nearby rotating shaft or wheel, as disclosed in U.S. Pat. No. 4,737,710.
- magnetoresistive elements may be used, as outlined in U.S. Pat. No. 5,055,781.
- a magnetoresistive element is an element whose electrical resistance varies in a predictable way when subjected to a magnetic field. Examples are ferromagnetic alloys, such as Ni-Co on a substrate. Additional examples are given in U.S. Pat. No. 5,861,747, which discloses multi-layer magnetoresistive elements, such as multilayered Cu/Co.
- SQUIDs superconducting quantum interference devices
- U.S. Pat. No. 4,489,274 A disadvantage of such detectors is that they require cryogenic temperatures down to 4 K, which severely restricts applications for which such detectors are used.
- the axial and rotational position of trunnions of the transmission determines the ratio of input speed to output speed, as shown in U.S. Pat. No. 5,885,185. It is known to determine the position of the trunnions by using a control mechanism with a stepping motor and a sleeve and spool that drives the trunnions and associated rollers to their desired positions.
- the linear position of the trunnions may be estimated by a linear-axis displacement unit.
- the position of the trunnions may be estimated by using a linear axis displacement sensor.
- Angular position may be determined by a rotation sensor. While this apparatus can determine approximate positions, it would be desirable to provide an improved method and apparatus for detecting the axial and rotational positions of trunnions with greater accuracy and in a single package.
- the detector includes a housing and first and second sensors which can sense a magnetic field.
- the sensors are attached to the housing and at least one magnet is attached to a movable object, wherein the first and second magnetic sensors are oriented to detect the motion of the magnet for linear and rotary axes of motion and thereby determine positions in two different orientations.
- Another aspect of the invention concerns a dual position detector of the above-described type, wherein at least one of the sensors includes a ferromagnetic disc and wherein the components operate to detect angular and axial positions with substantial accuracy. It should be understood that a ferromagnetic disc is not strictly required for this application, as angular sensing can be achieved without using this disc.
- Another aspect of the invention is a method for detecting movement of a magnet in two axes using a dual axis magnetic field detector.
- the method includes mounting a magnet on a movable object, mounting on a housing a first sensor and a second sensor apart from the first sensor for sensing a magnetic field from the magnet, orienting the sensors or the magnet such that the magnetic field is parallel to a sensing face of at least the first or second sensor, and detecting movement of the magnet with the first and second sensors, such that the first sensor detects movement of the magnet along a linear axis, and the second sensor detects movement of the magnet along a rotary axis.
- Yet another aspect of the invention is a method for detecting movement of a first magnet in two axes and a second magnet in two axes, using the method described above.
- the method also includes reporting movements of the magnets to a controller.
- the controller can then use this feedback from the sensors for further adjustment of the system and the magnets as necessary.
- FIG. 1 is a side view of a continuously variable transmission
- FIG. 2 is a perspective view of a trunnion, piston and associated sector magnets of the transmission of FIG. 1 ;
- FIG. 3 a is a diagrammatic side view of a sensing mount, magnetic sensors and associated trunnion for the transmission of FIG. 1 .
- FIG. 3 b is a diagrammatic top view of the elements of FIG. 3 a.
- FIG. 4 a is a diagrammatic view of sector magnets used in the transmission of FIGS. 1 , 2 , 3 a and 3 b , with curved magnetic lines of force illustrated as straight lines to show an approximate effective magnetic field.
- FIG. 4 b is a diagrammatic view of ring-forming magnets used in the transmission of FIGS. 1 , 2 , 3 a and 3 b , with curved magnetic lines of force illustrated as straight lines to show an approximate effective magnetic field.
- FIGS. 5-7 show top views of selected components of a transmission in various operational positions.
- FIGS. 8-9 are graphs depicting sensor performance with ring-forming magnets
- FIGS. 10-11 are graphs depicting sensor performance with sector magnets
- FIG. 12 is a schematic drawing of a system for detecting movement of two magnets in two axes each;
- FIG. 13 a is a perspective view of sector magnets and associated lines of force.
- FIG. 13 b is a cross-sectional view of the magnets of FIG. 13 a , taken along a centerline “C” in the direction of the arrows at the end of this line.
- a dual axis magnetic field detector as described below is useful for determining the position of a magnet in two axes, such as a distance along a linear axis or an angle with respect to a rotary axis. Sensors may thus be used to determine a displacement along one axis and a rotation in another axis. In other applications, a dual axis detector may be used in determining two linear axes or two rotary axes simultaneously.
- the dual axis detector includes two sensors for detecting a magnetic field, such as a hall-effect sensor or a magneto-restrictive sensor. One of the two sensors is used to determine the position of the magnet in one axis, and the other sensor is used to determine the position of the magnet in another, preferably perpendicular axis. The two sensors are preferably separate and spaced apart from each other.
- FIG. 1 depicts a toroidal continuously variable transmission 10 .
- the transmission includes an input shaft 11 a and an output shaft 12 a .
- the input shaft 1 la is connected to an input toroid 11
- the output shaft 12 a is connected to an output toroid 12 .
- Toroids 11 , 12 are connected by a pair of rollers 13 . Only one of the rollers is shown in the figure, the other roller being on the other side of the roller and toroids shown in FIG. 1 .
- the position of the rollers 13 is adjusted by at least one trunnion 14 and a piston 15 , which may be a hydraulic piston.
- the position of the trunnion and the piston are controlled by a controller 16 and an actuator 17 .
- a controller is a microprocessor controller.
- An example of an actuator is a hydraulic pump controlled by a valve that is under the supervision of the microprocessor.
- the position of rollers 13 may be varied by translating piston 15 up or down in a vertical axis as shown.
- the position of the rollers, and the performance of the transmission, may also be adjusted by allowing the rollers to rotate with respect to toroids 11 , 12 , as a result of their up/down positions. This is more easily seen in FIGS. 5-7 which illustrate various positions of the components of a transmission.
- the trunnion 14 may support one or more magnets on a magnet carrier 50 , for example as shown in FIGS. 2 and 3 a .
- the carrier 50 may mount sector magnets 21 as shown in FIG. 2 .
- sensors 25 , 27 are used to detect the magnetic field of the sector magnets 21 , from mounted positions on a stationary support 26 .
- the sensor 25 is mounted with its sensing face 25 a in a vertical plane, which is preferable for sensing displacement of the magnets in a vertical axis.
- the sensor 27 is mounted with its sensing face 27 a in a horizontal plane. This orientation is preferable for detecting rotation of the sector magnets in a horizontal plane.
- sector magnets 21 are used, as shown in FIG. 2 , the sector magnets will preferably be aligned with their top surfaces in a plane, and with their bottom surfaces also aligned in a plane. In this orientation, the magnetic field generated by the sector magnets will also preferably be relatively planar and parallel to the top and bottom surfaces of the magnet and above and below and normally outside the surfaces of the magnets. Ring magnets could be aligned in the same way. Experimental work on the dual sensor detector has shown that it works best with a magnetic field that is parallel with one sensor and perpendicular to the other sensor. Other orientations, however, may also be used.
- Detection of the magnets is easier if the magnets are aligned in the direction in which movement is anticipated, or transverse to the direction in which movement is anticipated. Thus, detection of vertical or z-axis movement of the magnets is easier if the magnets are horizontally aligned. In a similar manner, if the magnets, or the trunnions on which the magnets are mounted, rotate in a horizontal plane, it is also easier to detect the position of the magnets.
- FIGS. 4 a and 4 b Magnets that are suitable for this application are shown in FIGS. 4 a and 4 b .
- a monolithic ring magnet such as cylindrical magnet 22 may be used, or as seen above, magnet sectors, such as 90° sectors 21 , may be used.
- the magnet sectors 21 and cylindrical magnet 22 preferably have a smooth inside bore 21 a , 22 a , and a shaped and oriented outer area 21 b , 22 b .
- the outer profile of the magnets or magnet sectors extends at a bevel angle of from about 30° to about 60° , although other angles may be used. It is believed that the bevel helps to spread the magnetic field outside the magnets to accentuate the changes in the angle of the fields detected by the sensors.
- the magnets may be hollow cylindrical magnets without an angular, circumferential extension, or they may be solid cylindrical magnets.
- These geometries also help to concentrate the magnetic field inside the magnet or magnets, thus also facilitating measurements of the magnetic field. This concentration also helps in detecting the angle, and thus the position of the magnet with respect to the sensor, for both in-plane (rotary) and out-of-plane (displacement) measurements.
- hall-effect sensors have been used, such as Sentron's 2SA-10.
- An interface chip may be used to compute the angle from the sensor data, and report that angle.
- a Melexis integrated circuit such as the MLX90316, which includes a sensor and an interface, may be used.
- the Sentron 2SA-10 sensor includes internal hall-effect elements and a thin ferromagnetic disc that concentrates the external magnetic field.
- the Melexis MLX90316 system includes hall elements, a thin ferromagnetic disc, and a programmable integrated circuit. The circuit may be programmed to adjust the detector output to a desired range.
- Sentron chips are made by Sentron AG, Switzerland. Melexis chips are available through Melexis Microelectronics Systems, leper, Belgium. Suitable magnetoresistive sensors, which can resolve the magnetic field into x and y components, are available from other manufacturers, such as HL Planar-Technik GmbH, Dortmund, Germany.
- the field within the magnets is preferably as directionally uniform as possible, and the field outside the magnets is preferably uniformly divergent.
- the field directional variance was seen to vary up to about 29%, and deviation from uniform divergence was less than ⁇ 3%.
- field direction was more uniform, with a variance of only about 0.5% for sector magnets.
- the dual axis magnetic field sensor is preferably used in toroidal continuously variable transmissions, as shown in FIGS. 5-7 , which show top schematic views of the transmission in operation.
- the transmission is in low gear.
- the positions of rollers 18 , 19 are adjusted through trunnions 14 .
- the input toroid 11 with input shaft 11 a contacts the rollers 18 , 19 at a relatively small diameter of the input toroid.
- the same rollers 18 , 19 contact the output toroid 12 with output shaft 12 a at a relatively large diameter.
- it may require several revolutions of the input toroid 11 to cause one revolution of the output toroid 12 .
- the trunnions 14 have adjusted the positions of rollers 18 , 19 to an intermediate position, in which the input toroid 11 will revolve about 1 revolution per output revolution of output toroid 12 .
- This position of the rollers may be considered an intermediate gear ratio, suitable for normal loads or normal speeds for the transmission.
- the rollers will move in response to the movement of the trunnions.
- the roller position is very sensitive to the trunnion position. A trunnion movement of as little as 0.030 to 0.050 inches (about 0.75 to 1.25 mm) may cause a relatively large change in the turns ratio of the input toroid to the output toroid, and thus input shaft to output shaft.
- the transmission has shifted to a higher gearing position, in which the ratio of revolutions of the output toroid 12 and output shaft 12 a to revolutions of the input toroid 11 and input shaft 11 a is high.
- the trunnions 14 have again adjusted rollers 18 , 19 , such that one revolution of the input toroid 11 causes more than one revolution of the output toroid 12 .
- the ratios of the input to output toroids may be designed as desired. In the discussions below, the gear ratio will be discussed in terms of input turns to output turns.
- “low” gear may be one turn of the input shaft for one turn of the output shaft (a 1:1 ratio), while in “high” gear, the input shaft may turn one revolution for four turns of the output shaft (a 1:4 ratio).
- the ratios may vary from 4:1 at a low speed to 1:1 at a high speed.
- a system using the dual axis magnetic field detector will include at least one magnet and sensing elements for detecting the magnetic field.
- FIGS. 3 a and 3 b show such a system, in which part of the system is mounted on the trunnion 14 .
- a housing 50 atop the trunnion 14 mounts sector magnets 21 between radial ribs 57 and an inner annular rib 59 .
- the magnetic field thus tends to be concentrated in the center portion of the housing 50 , the center portion defined as the space within annular rib 59 .
- the magnets 21 and the magnetic field created by the magnets will also translate.
- the magnetic field will be detected by the sensors 25 , 27 mounted on the stationary support 26 .
- the plane of the rotational sensor 27 is preferably parallel to the horizontal axis of the magnet, and is preferably as co-planar as possible to the center of the magnetic field.
- the displacement sensor 25 is also mounted on the stationary support 26 . Both sensors may be hall-effect sensors or other sensors suitable for detecting the angle and linear displacement of a magnetic field.
- a magnetoresistive sensor SS-13D012 from Mitsui Electric Co., Ltd., of Tokyo, Japan, is capable of converting a stroke of up to 12 mm with an output sensitivity of 320 mV/mm of stroke.
- FIGS. 8-9 are graphs depicting sensor performance for a hall-effect sensor with ring-forming magnets that translate axially.
- FIG. 8 graphs field strength against axial displacement, the error bars depicting the maximum error in field strength in millitesla.
- FIG. 9 graphs the performance of the same sensor and magnet, this time displaying the variance of field angle with axial displacement. The errors and performance are comparable.
- FIGS. 10-11 show the same information as for FIGS. 8-9 , but for sensor performance with sector magnets.
- sector magnets were placed on a device and the performance of hall-effect sensors was measured. Error bars on the measured field strength depict the precision of the sensor.
- FIG. 11 graphs the field angle measurements for the same sensor and sector magnets as FIG. 10 . Performance for both field strength and field angles is similar. In the tests conducted to date, this sensor has better performance and less error at minimal displacement.
- a continuously variable transmission will of course include two trunnions and rollers. Therefore, a detector system to control the transmission could require two dual axis magnetic field detectors, one for each trunnion and roller assembly. However, since the trunnions should be interconnected in usual practice, only one set of detectors will typically be required. Nevertheless a two set detector system is described hereinafter to demonstrate how a system with multiple detector sets could operate.
- the system will preferably also include a controller for receiving the signals of both detectors and sending the signals to the transmission controller.
- a system 60 for detecting movement of trunnions in a continuously variable transmission is shown in FIG. 12 . The system 60 detects movement of magnetic fields generated by magnets 61 , 62 , each of which is attached to a trunnion from a continuously variable transmission (not shown).
- a first magnetic field detector will include magnetic field sensors 63 , 65 , preferably one sensor for each axis of movement of magnet 61 as described above. Sensors 63 , 65 will detect linear and rotary motion of the magnet 61 and the magnetic field emanating from the magnet 61 as the first trunnion translates or rotates.
- a second magnetic field detector includes magnetic field sensors 64 , 66 for detecting movement of the magnet 62 as the second trunnion moves. Signals from the sensors are applied to a controller 67 , which is preferably a microprocessor controller. The controller 67 processes the signals and reports the position of the sensors, and thus the trunnions, to a controller that is monitoring and controlling the transmission. As noted above, some sensors may themselves include a microprocessor controller. Of course, even though two sets of detectors and associated magnets are disclosed, a single detector set, more than two detector sets, or any number of magnets could be used.
- FIG. 13 a Magnets preferred for use in the above-described detector system or for a system employing a single set of detectors are shown in FIG. 13 a .
- two sector magnets 71 are positioned as shown, with their poles oriented vertically and in opposite directions. This orientation increases the magnetic field on the outside of the magnets for sensing linear displacement. This orientation also ensures an adequate magnetic field above and on the inside area of the magnets, for sensing the displacement angle.
- the magnetic lines of force for the magnets of FIG. 13 a are also shown in the associated cross-sectional view of FIG. 13 b , taken along section lines C.
- the disclosed dual axis magnetic field detector is very useful, and may have applications for detecting and controlling movement of one object or more than one object. It is therefore intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the scope of this invention.
- capacitive or other proximity sensors could be adapted to detect the proximity of the magnet and the magnetic field, and could thus be used in place of the preferred hall-effect and magnetoresistive sensors. These other sensors might not, however, result in optimum performance of the claimed dual position detector.
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Abstract
Description
- This non-provisional patent application is related to and claims the benefit of the filing date of prior co-pending provisional application Ser. No. 60/793,833 filed Apr. 21, 2006.
- 1. Field of the Invention
- The field of the invention is that of sensors for detecting the position of an object in two axes, such as a linear axis and a rotary axis.
- 2. Background Art
- Sensors and devices for detecting the position of an object in a single axis are well known. For instance, a linear variable differential transformer (LVDT) can accurately detect the position of an object along a linear axis. In a similar manner, a rotary encoder can quickly and accurately detect the rotational position of a rotating device, such as a motor shaft. In another example, a plurality of hall-effect sensors may be used with a magnet to determine the rotary position of a nearby rotating shaft or wheel, as disclosed in U.S. Pat. No. 4,737,710.
- Instead of hall-effect sensors, magnetoresistive elements may be used, as outlined in U.S. Pat. No. 5,055,781. A magnetoresistive element is an element whose electrical resistance varies in a predictable way when subjected to a magnetic field. Examples are ferromagnetic alloys, such as Ni-Co on a substrate. Additional examples are given in U.S. Pat. No. 5,861,747, which discloses multi-layer magnetoresistive elements, such as multilayered Cu/Co.
- However, considerable difficulties emerge if it is desired to detect the position of an object in more than one dimension or axis. For instance, superconducting quantum interference devices (SQUIDs) may be used to detect magnetic fields or their movement in more than one axis by using more than one SQUID, as outlined in U.S. Pat. No. 4,489,274. A disadvantage of such detectors is that they require cryogenic temperatures down to 4 K, which severely restricts applications for which such detectors are used.
- In the field of toroidal-type continuously-variable transmissions, such as for automotive use or for an on- or off-road vehicle, the axial and rotational position of trunnions of the transmission determines the ratio of input speed to output speed, as shown in U.S. Pat. No. 5,885,185. It is known to determine the position of the trunnions by using a control mechanism with a stepping motor and a sleeve and spool that drives the trunnions and associated rollers to their desired positions. The linear position of the trunnions may be estimated by a linear-axis displacement unit. Alternatively, the position of the trunnions may be estimated by using a linear axis displacement sensor. Angular position may be determined by a rotation sensor. While this apparatus can determine approximate positions, it would be desirable to provide an improved method and apparatus for detecting the axial and rotational positions of trunnions with greater accuracy and in a single package.
- One aspect of the invention is a dual position detector. The detector includes a housing and first and second sensors which can sense a magnetic field. The sensors are attached to the housing and at least one magnet is attached to a movable object, wherein the first and second magnetic sensors are oriented to detect the motion of the magnet for linear and rotary axes of motion and thereby determine positions in two different orientations.
- Another aspect of the invention concerns a dual position detector of the above-described type, wherein at least one of the sensors includes a ferromagnetic disc and wherein the components operate to detect angular and axial positions with substantial accuracy. It should be understood that a ferromagnetic disc is not strictly required for this application, as angular sensing can be achieved without using this disc.
- Another aspect of the invention is a method for detecting movement of a magnet in two axes using a dual axis magnetic field detector. The method includes mounting a magnet on a movable object, mounting on a housing a first sensor and a second sensor apart from the first sensor for sensing a magnetic field from the magnet, orienting the sensors or the magnet such that the magnetic field is parallel to a sensing face of at least the first or second sensor, and detecting movement of the magnet with the first and second sensors, such that the first sensor detects movement of the magnet along a linear axis, and the second sensor detects movement of the magnet along a rotary axis.
- Yet another aspect of the invention is a method for detecting movement of a first magnet in two axes and a second magnet in two axes, using the method described above. The method also includes reporting movements of the magnets to a controller. The controller can then use this feedback from the sensors for further adjustment of the system and the magnets as necessary. There are many aspects and embodiments of the invention, of which several are described below.
-
FIG. 1 is a side view of a continuously variable transmission; -
FIG. 2 is a perspective view of a trunnion, piston and associated sector magnets of the transmission ofFIG. 1 ; -
FIG. 3 a is a diagrammatic side view of a sensing mount, magnetic sensors and associated trunnion for the transmission ofFIG. 1 . -
FIG. 3 b is a diagrammatic top view of the elements ofFIG. 3 a. -
FIG. 4 a is a diagrammatic view of sector magnets used in the transmission ofFIGS. 1 , 2, 3 a and 3 b, with curved magnetic lines of force illustrated as straight lines to show an approximate effective magnetic field. -
FIG. 4 b is a diagrammatic view of ring-forming magnets used in the transmission ofFIGS. 1 , 2, 3 a and 3 b, with curved magnetic lines of force illustrated as straight lines to show an approximate effective magnetic field. -
FIGS. 5-7 show top views of selected components of a transmission in various operational positions. -
FIGS. 8-9 are graphs depicting sensor performance with ring-forming magnets; -
FIGS. 10-11 are graphs depicting sensor performance with sector magnets; -
FIG. 12 is a schematic drawing of a system for detecting movement of two magnets in two axes each; -
FIG. 13 a is a perspective view of sector magnets and associated lines of force; and -
FIG. 13 b is a cross-sectional view of the magnets ofFIG. 13 a, taken along a centerline “C” in the direction of the arrows at the end of this line. - A dual axis magnetic field detector as described below is useful for determining the position of a magnet in two axes, such as a distance along a linear axis or an angle with respect to a rotary axis. Sensors may thus be used to determine a displacement along one axis and a rotation in another axis. In other applications, a dual axis detector may be used in determining two linear axes or two rotary axes simultaneously. The dual axis detector includes two sensors for detecting a magnetic field, such as a hall-effect sensor or a magneto-restrictive sensor. One of the two sensors is used to determine the position of the magnet in one axis, and the other sensor is used to determine the position of the magnet in another, preferably perpendicular axis. The two sensors are preferably separate and spaced apart from each other.
- One application for a dual axis magnetic field sensor is in a continuously variable hydraulic transmission, such as shown in U.S. Pat. No. 5,885,185.
FIG. 1 depicts a toroidal continuouslyvariable transmission 10. The transmission includes aninput shaft 11 a and anoutput shaft 12 a. Theinput shaft 1 la is connected to aninput toroid 11, while theoutput shaft 12 a is connected to anoutput toroid 12.Toroids rollers 13. Only one of the rollers is shown in the figure, the other roller being on the other side of the roller and toroids shown inFIG. 1 . The position of therollers 13 is adjusted by at least onetrunnion 14 and apiston 15, which may be a hydraulic piston. - In one control scheme, the position of the trunnion and the piston are controlled by a
controller 16 and anactuator 17. An example of a controller is a microprocessor controller. An example of an actuator is a hydraulic pump controlled by a valve that is under the supervision of the microprocessor. The position ofrollers 13 may be varied by translatingpiston 15 up or down in a vertical axis as shown. The position of the rollers, and the performance of the transmission, may also be adjusted by allowing the rollers to rotate with respect totoroids FIGS. 5-7 which illustrate various positions of the components of a transmission. - The
trunnion 14 may support one or more magnets on amagnet carrier 50, for example as shown inFIGS. 2 and 3 a. For example, thecarrier 50 may mountsector magnets 21 as shown inFIG. 2 . As shown inFIGS. 3 a and 3 b,sensors sector magnets 21, from mounted positions on astationary support 26. Thesensor 25 is mounted with itssensing face 25 a in a vertical plane, which is preferable for sensing displacement of the magnets in a vertical axis. Thesensor 27 is mounted with itssensing face 27 a in a horizontal plane. This orientation is preferable for detecting rotation of the sector magnets in a horizontal plane. - If
sector magnets 21 are used, as shown inFIG. 2 , the sector magnets will preferably be aligned with their top surfaces in a plane, and with their bottom surfaces also aligned in a plane. In this orientation, the magnetic field generated by the sector magnets will also preferably be relatively planar and parallel to the top and bottom surfaces of the magnet and above and below and normally outside the surfaces of the magnets. Ring magnets could be aligned in the same way. Experimental work on the dual sensor detector has shown that it works best with a magnetic field that is parallel with one sensor and perpendicular to the other sensor. Other orientations, however, may also be used. - Detection of the magnets is easier if the magnets are aligned in the direction in which movement is anticipated, or transverse to the direction in which movement is anticipated. Thus, detection of vertical or z-axis movement of the magnets is easier if the magnets are horizontally aligned. In a similar manner, if the magnets, or the trunnions on which the magnets are mounted, rotate in a horizontal plane, it is also easier to detect the position of the magnets.
- Magnets that are suitable for this application are shown in
FIGS. 4 a and 4 b. A monolithic ring magnet, such ascylindrical magnet 22 may be used, or as seen above, magnet sectors, such as 90°sectors 21, may be used. Themagnet sectors 21 andcylindrical magnet 22 preferably have a smooth inside bore 21 a, 22 a, and a shaped and orientedouter area 21 b, 22 b. In the embodiments shown, the outer profile of the magnets or magnet sectors extends at a bevel angle of from about 30° to about 60° , although other angles may be used. It is believed that the bevel helps to spread the magnetic field outside the magnets to accentuate the changes in the angle of the fields detected by the sensors. In other embodiments, the magnets may be hollow cylindrical magnets without an angular, circumferential extension, or they may be solid cylindrical magnets. - These geometries also help to concentrate the magnetic field inside the magnet or magnets, thus also facilitating measurements of the magnetic field. This concentration also helps in detecting the angle, and thus the position of the magnet with respect to the sensor, for both in-plane (rotary) and out-of-plane (displacement) measurements. To detect the magnetic field, and thus the position of the magnet, hall-effect sensors have been used, such as Sentron's 2SA-10. An interface chip may be used to compute the angle from the sensor data, and report that angle. Alternatively, a Melexis integrated circuit, such as the MLX90316, which includes a sensor and an interface, may be used. The Sentron 2SA-10 sensor includes internal hall-effect elements and a thin ferromagnetic disc that concentrates the external magnetic field. This sensor is particularly well-adapted to detecting the angle of a nearby magnetic field. The Melexis MLX90316 system includes hall elements, a thin ferromagnetic disc, and a programmable integrated circuit. The circuit may be programmed to adjust the detector output to a desired range. Sentron chips are made by Sentron AG, Zug, Switzerland. Melexis chips are available through Melexis Microelectronics Systems, leper, Belgium. Suitable magnetoresistive sensors, which can resolve the magnetic field into x and y components, are available from other manufacturers, such as HL Planar-Technik GmbH, Dortmund, Germany.
- The field within the magnets is preferably as directionally uniform as possible, and the field outside the magnets is preferably uniformly divergent. In displacement testing conducted to date, in z-axis results for sector magnets, the field directional variance was seen to vary up to about 29%, and deviation from uniform divergence was less than ±3%. In tests for rotational performance, field direction was more uniform, with a variance of only about 0.5% for sector magnets.
- The dual axis magnetic field sensor is preferably used in toroidal continuously variable transmissions, as shown in
FIGS. 5-7 , which show top schematic views of the transmission in operation. InFIG. 5 , the transmission is in low gear. The positions ofrollers trunnions 14. Theinput toroid 11 withinput shaft 11 a contacts therollers same rollers output toroid 12 withoutput shaft 12 a at a relatively large diameter. Thus, it may require several revolutions of theinput toroid 11 to cause one revolution of theoutput toroid 12. This would be considered a low gearing ratio, or a low gear for the transmission, suitable for start-up, heavy loads, or loads requiring high torque. - In
FIG. 6 , thetrunnions 14 have adjusted the positions ofrollers input toroid 11 will revolve about 1 revolution per output revolution ofoutput toroid 12. This position of the rollers may be considered an intermediate gear ratio, suitable for normal loads or normal speeds for the transmission. The rollers will move in response to the movement of the trunnions. Typically, the roller position is very sensitive to the trunnion position. A trunnion movement of as little as 0.030 to 0.050 inches (about 0.75 to 1.25 mm) may cause a relatively large change in the turns ratio of the input toroid to the output toroid, and thus input shaft to output shaft. - In
FIG. 7 , the transmission has shifted to a higher gearing position, in which the ratio of revolutions of theoutput toroid 12 andoutput shaft 12 a to revolutions of theinput toroid 11 andinput shaft 11 a is high. To cause this change, thetrunnions 14 have again adjustedrollers input toroid 11 causes more than one revolution of theoutput toroid 12. This would be considered high gear, for driving the output shaft at a maximum speed and perhaps a minimum torque. Those having skill in the art will recognize that the ratios of the input to output toroids may be designed as desired. In the discussions below, the gear ratio will be discussed in terms of input turns to output turns. In some applications, “low” gear may be one turn of the input shaft for one turn of the output shaft (a 1:1 ratio), while in “high” gear, the input shaft may turn one revolution for four turns of the output shaft (a 1:4 ratio). In other applications, such as for very heavy loads, the ratios may vary from 4:1 at a low speed to 1:1 at a high speed. - A system using the dual axis magnetic field detector will include at least one magnet and sensing elements for detecting the magnetic field.
FIGS. 3 a and 3 b show such a system, in which part of the system is mounted on thetrunnion 14. As shown inFIGS. 13 a-13 b, ahousing 50 atop thetrunnion 14mounts sector magnets 21 betweenradial ribs 57 and an innerannular rib 59. The magnetic field thus tends to be concentrated in the center portion of thehousing 50, the center portion defined as the space withinannular rib 59. As thepiston 15 translates up and down to adjust thetrunnion 14, themagnets 21 and the magnetic field created by the magnets will also translate. The magnetic field will be detected by thesensors stationary support 26. In this embodiment, the plane of therotational sensor 27 is preferably parallel to the horizontal axis of the magnet, and is preferably as co-planar as possible to the center of the magnetic field. Thedisplacement sensor 25 is also mounted on thestationary support 26. Both sensors may be hall-effect sensors or other sensors suitable for detecting the angle and linear displacement of a magnetic field. For instance, a magnetoresistive sensor SS-13D012 from Mitsui Electric Co., Ltd., of Tokyo, Japan, is capable of converting a stroke of up to 12 mm with an output sensitivity of 320 mV/mm of stroke. -
FIGS. 8-9 are graphs depicting sensor performance for a hall-effect sensor with ring-forming magnets that translate axially.FIG. 8 graphs field strength against axial displacement, the error bars depicting the maximum error in field strength in millitesla.FIG. 9 graphs the performance of the same sensor and magnet, this time displaying the variance of field angle with axial displacement. The errors and performance are comparable. -
FIGS. 10-11 show the same information as forFIGS. 8-9 , but for sensor performance with sector magnets. In.FIG. 10 , sector magnets were placed on a device and the performance of hall-effect sensors was measured. Error bars on the measured field strength depict the precision of the sensor.FIG. 11 graphs the field angle measurements for the same sensor and sector magnets asFIG. 10 . Performance for both field strength and field angles is similar. In the tests conducted to date, this sensor has better performance and less error at minimal displacement. - A continuously variable transmission will of course include two trunnions and rollers. Therefore, a detector system to control the transmission could require two dual axis magnetic field detectors, one for each trunnion and roller assembly. However, since the trunnions should be interconnected in usual practice, only one set of detectors will typically be required. Nevertheless a two set detector system is described hereinafter to demonstrate how a system with multiple detector sets could operate. The system will preferably also include a controller for receiving the signals of both detectors and sending the signals to the transmission controller. A
system 60 for detecting movement of trunnions in a continuously variable transmission is shown inFIG. 12 . Thesystem 60 detects movement of magnetic fields generated bymagnets - A first magnetic field detector will include
magnetic field sensors magnet 61 as described above.Sensors magnet 61 and the magnetic field emanating from themagnet 61 as the first trunnion translates or rotates. A second magnetic field detector includesmagnetic field sensors magnet 62 as the second trunnion moves. Signals from the sensors are applied to acontroller 67, which is preferably a microprocessor controller. Thecontroller 67 processes the signals and reports the position of the sensors, and thus the trunnions, to a controller that is monitoring and controlling the transmission. As noted above, some sensors may themselves include a microprocessor controller. Of course, even though two sets of detectors and associated magnets are disclosed, a single detector set, more than two detector sets, or any number of magnets could be used. - Magnets preferred for use in the above-described detector system or for a system employing a single set of detectors are shown in
FIG. 13 a. In this embodiment, twosector magnets 71 are positioned as shown, with their poles oriented vertically and in opposite directions. This orientation increases the magnetic field on the outside of the magnets for sensing linear displacement. This orientation also ensures an adequate magnetic field above and on the inside area of the magnets, for sensing the displacement angle. The magnetic lines of force for the magnets ofFIG. 13 a are also shown in the associated cross-sectional view ofFIG. 13 b, taken along section lines C. - The disclosed dual axis magnetic field detector is very useful, and may have applications for detecting and controlling movement of one object or more than one object. It is therefore intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the scope of this invention. For instance, capacitive or other proximity sensors could be adapted to detect the proximity of the magnet and the magnetic field, and could thus be used in place of the preferred hall-effect and magnetoresistive sensors. These other sensors might not, however, result in optimum performance of the claimed dual position detector.
Claims (19)
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